OpenRaiser/Intern-Atlas huggingface dataset:
OmniChat: Enhancing Spoken Dialogue Systems with Scalable Synthetic Data for Diverse Scenarios
Venue: arXiv cs.CL 2025
Year: 2025

With the rapid development of large language models, researchers have created increasingly advanced spoken dialogue systems that can naturally converse with humans. However, these systems still struggle to handle the full complexity of real-world conversations, including audio events, musical contexts, and emotional expressions, mainly because current dialogue datasets are constrained in both scale and scenario diversity. In this paper, we propose leveraging synthetic data to enhance the dialogue models across diverse scenarios. We introduce ShareChatX, the first comprehensive, large-scale dataset for spoken dialogue that spans diverse scenarios. Based on this dataset, we introduce OmniChat, a multi-turn dialogue system with a heterogeneous feature fusion module, designed to optimize feature selection in different dialogue contexts. In addition, we explored critical aspects of training dialogue systems using synthetic data. Through comprehensive experimentation, we determined the ideal balance between synthetic and real data, achieving state-of-the-art results on the real-world dialogue dataset DailyTalk. We also highlight the crucial importance of synthetic data in tackling diverse, complex dialogue scenarios, especially those involving audio and music. For more details, please visit our demo page at \url{https://sharechatx.github.io/}.
VideoAnydoor: High-fidelity Video Object Insertion with Precise Motion Control
Venue: arXiv cs.CV 2025
Year: 2025

Despite significant advancements in video generation, inserting a given object into videos remains a challenging task. The difficulty lies in preserving the appearance details of the reference object and accurately modeling coherent motions at the same time. In this paper, we propose VideoAnydoor, a zero-shot video object insertion framework with high-fidelity detail preservation and precise motion control. Starting from a text-to-video model, we utilize an ID extractor to inject the global identity and leverage a box sequence to control the overall motion. To preserve the detailed appearance and meanwhile support fine-grained motion control, we design a pixel warper. It takes the reference image with arbitrary key-points and the corresponding key-point trajectories as inputs. It warps the pixel details according to the trajectories and fuses the warped features with the diffusion U-Net, thus improving detail preservation and supporting users in manipulating the motion trajectories. In addition, we propose a training strategy involving both videos and static images with a weighted loss to enhance insertion quality. VideoAnydoor demonstrates significant superiority over existing methods and naturally supports various downstream applications (e.g., talking head generation, video virtual try-on, multi-region editing) without task-specific fine-tuning.
Geometry Matters: Benchmarking Scientific ML Approaches for Flow Prediction around Complex Geometries
Venue: arXiv cs.LG 2025
Year: 2025

Rapid and accurate simulations of fluid dynamics around complicated geometric bodies are critical in a variety of engineering and scientific applications, including aerodynamics and biomedical flows. However, while scientific machine learning (SciML) has shown considerable promise, most studies in this field are limited to simple geometries, and complex, real-world scenarios are underexplored. This paper addresses this gap by benchmarking diverse SciML models, including neural operators and vision transformer-based foundation models, for fluid flow prediction over intricate geometries. Using a high-fidelity dataset of steady-state flows across various geometries, we evaluate the impact of geometric representations -- Signed Distance Fields (SDF) and binary masks -- on model accuracy, scalability, and generalization. Central to this effort is the introduction of a novel, unified scoring framework that integrates metrics for global accuracy, boundary layer fidelity, and physical consistency to enable a robust, comparative evaluation of model performance. Our findings demonstrate that newer foundation models significantly outperform neural operators, particularly in data-limited scenarios, and that SDF representations yield superior results with sufficient training data. Despite these promises, all models struggle with out-of-distribution generalization, highlighting a critical challenge for future SciML applications. By advancing both evaluation models and modeling capabilities, our work paves the way for robust and scalable ML solutions for fluid dynamics across complex geometries.
Augmented Contrastive Clustering with Uncertainty-Aware Prototyping for Time Series Test Time Adaptation
Venue: arXiv cs.LG 2025
Year: 2025

Test-time adaptation aims to adapt pre-trained deep neural networks using solely online unlabelled test data during inference. Although TTA has shown promise in visual applications, its potential in time series contexts remains largely unexplored. Existing TTA methods, originally designed for visual tasks, may not effectively handle the complex temporal dynamics of real-world time series data, resulting in suboptimal adaptation performance. To address this gap, we propose Augmented Contrastive Clustering with Uncertainty-aware Prototyping (ACCUP), a straightforward yet effective TTA method for time series data. Initially, our approach employs augmentation ensemble on the time series data to capture diverse temporal information and variations, incorporating uncertainty-aware prototypes to distill essential characteristics. Additionally, we introduce an entropy comparison scheme to selectively acquire more confident predictions, enhancing the reliability of pseudo labels. Furthermore, we utilize augmented contrastive clustering to enhance feature discriminability and mitigate error accumulation from noisy pseudo labels, promoting cohesive clustering within the same class while facilitating clear separation between different classes. Extensive experiments conducted on three real-world time series datasets and an additional visual dataset demonstrate the effectiveness and generalization potential of the proposed method, advancing the underexplored realm of TTA for time series data.
Block components of generalized quaternion group codes
Venue: arXiv cs.IT 2025
Year: 2025

Codes in the generalized quaternion group algebra $\mathbb{F}_q[Q_{4n}]$ are considered. Restricting to char$\mathbb{F}_q \nmid 4n$ the structure of an arbitrary code $C \subseteq \mathbb{F}_q[Q_{4n}]$ is described via the Wedderburn decomposition. Moreover it is known that in this case every code $C \subseteq \mathbb{F}_q[Q_{4n}]$ has a generating idempotent $λ\in \mathbb{F}_q[Q_{4n}]$. Given the generating idempotent of a code $C$ we determine the different components in its decomposition $C \cong \bigoplus_{j=1}^{r+s}C_j \oplus \bigoplus_{i=1}^{k+t}C'_{i}.$ Afterwards we apply this result to describe the blocks of codes induced by cyclic group codes.
Many of Your DPOs are Secretly One: Attempting Unification Through Mutual Information
Venue: arXiv cs.LG 2025
Year: 2025

Post-alignment of large language models (LLMs) is critical in improving their utility, safety, and alignment with human intentions. Direct preference optimisation (DPO) has become one of the most widely used algorithms for achieving this alignment, given its ability to optimise models based on human feedback directly. However, the vast number of DPO variants in the literature has made it increasingly difficult for researchers to navigate and fully grasp the connections between these approaches. This paper introduces a unifying framework inspired by mutual information, which proposes a new loss function with flexible priors. By carefully specifying these priors, we demonstrate that many existing algorithms, such as SimPO, TDPO, SparsePO, and others, can be derived from our framework. This unification offers a clearer and more structured approach, allowing researchers to understand the relationships between different DPO variants better. We aim to simplify the landscape of DPO algorithms, making it easier for the research community to gain insights and foster further advancements in LLM alignment. Ultimately, we hope our framework can be a foundation for developing more robust and interpretable alignment techniques.
Integrated Communication and Bayesian Estimation of Fixed Channel States
Venue: arXiv cs.IT 2025
Year: 2025

This work studies an information-theoretic performance limit of an integrated sensing and communication (ISAC) system where the goal of sensing is to estimate a random continuous state. Considering the mean-squared error (MSE) for estimation performance metric, the Bayesian Cramér-Rao lower bound (BCRB) is widely used in literature as a proxy of the MSE; however, the BCRB is not generally tight even asymptotically except for restrictive distributions. Instead, we characterize the full tradeoff between information rate and the exact MSE using the asymptotically tight BCRB (ATBCRB) analysis, a recent variant of the BCRB. Our characterization is applicable for general channels as long as the regularity conditions are met, and the proof relies on constant composition codes and ATBCRB analysis with the codes. We also perform a numerical evaluation of the tradeoff in a variance estimation example, which commonly arises in spectrum sensing scenarios.
BARTPredict: Empowering IoT Security with LLM-Driven Cyber Threat Prediction
Venue: arXiv cs.CR 2025
Year: 2025

The integration of Internet of Things (IoT) technology in various domains has led to operational advancements, but it has also introduced new vulnerabilities to cybersecurity threats, as evidenced by recent widespread cyberattacks on IoT devices. Intrusion detection systems are often reactive, triggered by specific patterns or anomalies observed within the network. To address this challenge, this work proposes a proactive approach to anticipate and preemptively mitigate malicious activities, aiming to prevent potential damage before it occurs. This paper proposes an innovative intrusion prediction framework empowered by Pre-trained Large Language Models (LLMs). The framework incorporates two LLMs: a fine-tuned Bidirectional and AutoRegressive Transformers (BART) model for predicting network traffic and a fine-tuned Bidirectional Encoder Representations from Transformers (BERT) model for evaluating the predicted traffic. By harnessing the bidirectional capabilities of BART the framework then identifies malicious packets among these predictions. Evaluated using the CICIoT2023 IoT attack dataset, our framework showcases a notable enhancement in predictive performance, attaining an impressive 98% overall accuracy, providing a powerful response to the cybersecurity challenges that confront IoT networks.
Controlling your Attributes in Voice
Venue: arXiv cs.SD 2025
Year: 2025

Attribute control in generative tasks aims to modify personal attributes, such as age and gender while preserving the identity information in the source sample. Although significant progress has been made in controlling facial attributes in image generation, similar approaches for speech generation remain largely unexplored. This letter proposes a novel method for controlling speaker attributes in speech without parallel data. Our approach consists of two main components: a GAN-based speaker representation variational autoencoder that extracts speaker identity and attributes from speaker vector, and a two-stage voice conversion model that captures the natural expression of speaker attributes in speech. Experimental results show that our proposed method not only achieves attribute control at the speaker representation level but also enables manipulation of the speaker age and gender at the speech level while preserving speech quality and speaker identity.
IAM: Enhancing RGB-D Instance Segmentation with New Benchmarks
Venue: arXiv cs.CV 2025
Year: 2025

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer scene understanding than RGB-only methods. However, most existing efforts have primarily focused on semantic segmentation and thus leave a critical gap. There is a relative scarcity of instance-level RGB-D segmentation datasets, which restricts current methods to broad category distinctions rather than fully capturing the fine-grained details required for recognizing individual objects. To bridge this gap, we introduce three RGB-D instance segmentation benchmarks, distinguished at the instance level. These datasets are versatile, supporting a wide range of applications from indoor navigation to robotic manipulation. In addition, we present an extensive evaluation of various baseline models on these benchmarks. This comprehensive analysis identifies both their strengths and shortcomings, guiding future work toward more robust, generalizable solutions. Finally, we propose a simple yet effective method for RGB-D data integration. Extensive evaluations affirm the effectiveness of our approach, offering a robust framework for advancing toward more nuanced scene understanding.
Quantitative Gait Analysis from Single RGB Videos Using a Dual-Input Transformer-Based Network
Venue: arXiv cs.CV 2025
Year: 2025

Gait and movement analysis have become a well-established clinical tool for diagnosing health conditions, monitoring disease progression for a wide spectrum of diseases, and to implement and assess treatment, surgery and or rehabilitation interventions. However, quantitative motion assessment remains limited to costly motion capture systems and specialized personnel, restricting its accessibility and broader application. Recent advancements in deep neural networks have enabled quantitative movement analysis using single-camera videos, offering an accessible alternative to conventional motion capture systems. In this paper, we present an efficient approach for clinical gait analysis through a dual-pattern input convolutional Transformer network. The proposed system leverages a dual-input Transformer model to estimate essential gait parameters from single RGB videos captured by a single-view camera. The system demonstrates high accuracy in estimating critical metrics such as the gait deviation index (GDI), knee flexion angle, step length, and walking cadence, validated on a dataset of individuals with movement disorders. Notably, our approach surpasses state-of-the-art methods in various scenarios, using fewer resources and proving highly suitable for clinical application, particularly in resource-constrained environments.
$(Θ, Δ_Θ, \mathbf{a})$-cyclic codes over $\mathbb{F}_q^l$ and their applications in the construction of quantum codes
Venue: arXiv cs.IT 2025
Year: 2025

In this article, for a finite field $\mathbb{F}_q$ and a natural number $l,$ let $\mathcal{R}$ denote the product ring $\mathbb{F}_q^l.$ Firstly, for an automorphism $Θ$ of $\mathcal{R},$ a $Θ$-derivation $Δ_Θ$ of $\mathcal{R}$ and for a unit $\mathbf{a}$ in $\mathcal{R},$ we study $(Θ, Δ_Θ, \mathbf{a})$-cyclic codes over $\mathcal{R}.$ In this direction, we give an algebraic characterization of a $(Θ, Δ_Θ, \mathbf{a})$-cyclic code over $\mathcal{R}$, determine its generator polynomial, and find its decomposition over $\mathbb{F}_q.$ Secondly, we give a necessary and sufficient condition for a $(Θ, 0, \mathbf{a})$-cyclic code to be Euclidean dual-containing code over $\mathcal{R}.$ Thirdly, we study Gray maps and obtain several MDS and optimal linear codes over $\mathbb{F}_q$ as Gray images of $(Θ, Δ_Θ, \mathbf{a})$-cyclic codes over $\mathcal{R}.$ Moreover, we determine orthogonality preserving Gray maps and construct Euclidean dual-containing codes with good parameters. Lastly, as an application, we construct MDS and almost MDS quantum codes by employing the Euclidean dual-containing and annihilator dual-containing CSS constructions.
Cloth-Splatting: 3D Cloth State Estimation from RGB Supervision
Venue: arXiv cs.CV 2025
Year: 2025

We introduce Cloth-Splatting, a method for estimating 3D states of cloth from RGB images through a prediction-update framework. Cloth-Splatting leverages an action-conditioned dynamics model for predicting future states and uses 3D Gaussian Splatting to update the predicted states. Our key insight is that coupling a 3D mesh-based representation with Gaussian Splatting allows us to define a differentiable map between the cloth state space and the image space. This enables the use of gradient-based optimization techniques to refine inaccurate state estimates using only RGB supervision. Our experiments demonstrate that Cloth-Splatting not only improves state estimation accuracy over current baselines but also reduces convergence time.
From Age Estimation to Age-Invariant Face Recognition: Generalized Age Feature Extraction Using Order-Enhanced Contrastive Learning
Venue: arXiv cs.CV 2025
Year: 2025

Generalized age feature extraction is crucial for age-related facial analysis tasks, such as age estimation and age-invariant face recognition (AIFR). Despite the recent successes of models in homogeneous-dataset experiments, their performance drops significantly in cross-dataset evaluations. Most of these models fail to extract generalized age features as they only attempt to map extracted features with training age labels directly without explicitly modeling the natural ordinal progression of aging. In this paper, we propose Order-Enhanced Contrastive Learning (OrdCon), a novel contrastive learning framework designed explicitly for ordinal attributes like age. Specifically, to extract generalized features, OrdCon aligns the direction vector of two features with either the natural aging direction or its reverse to model the ordinal process of aging. To further enhance generalizability, OrdCon leverages a novel soft proxy matching loss as a second contrastive objective, ensuring that features are positioned around the center of each age cluster with minimal intra-class variance and proportionally away from other clusters. By modeling the ageing process, the framework can enhance generalizability by improving the alignment of samples from the same class and reducing the divergence of direction vectors. We demonstrate that our proposed method achieves comparable results to state-of-the-art methods on various benchmark datasets in homogeneous-dataset evaluations for both age estimation and AIFR. In cross-dataset experiments, OrdCon outperforms other methods by reducing the mean absolute error by approximately 1.38 on average for the age estimation task and boosts the average accuracy for AIFR by 1.87%.
Ingredients: Blending Custom Photos with Video Diffusion Transformers
Venue: arXiv cs.CV 2025
Year: 2025

This paper presents a powerful framework to customize video creations by incorporating multiple specific identity (ID) photos, with video diffusion Transformers, referred to as Ingredients. Generally, our method consists of three primary modules: (i) a facial extractor that captures versatile and precise facial features for each human ID from both global and local perspectives; (ii) a multi-scale projector that maps face embeddings into the contextual space of image query in video diffusion transformers; (iii) an ID router that dynamically combines and allocates multiple ID embedding to the corresponding space-time regions. Leveraging a meticulously curated text-video dataset and a multi-stage training protocol, Ingredients demonstrates superior performance in turning custom photos into dynamic and personalized video content. Qualitative evaluations highlight the advantages of proposed method, positioning it as a significant advancement toward more effective generative video control tools in Transformer-based architecture, compared to existing methods. The data, code, and model weights are publicly available at: https://github.com/feizc/Ingredients.
Grasping in Uncertain Environments: A Case Study For Industrial Robotic Recycling
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in which electric devices are disassembled and readied for the recovery of raw materials. Since devices may contain hazardous materials and their disassembly involves heavy manual labor, robotic disassembly is a promising venue. However, since devices may be damaged, dirty and unidentified, robotic disassembly is challenging since object models are unavailable or cannot be relied upon. This case study explores grasping strategies for industrial robotic disassembly of WEEE devices with uncertain vision data. We propose three grippers and appropriate tactile strategies for force-based manipulation that improves grasping robustness. For each proposed gripper, we develop corresponding strategies that can perform effectively in different grasping tasks and leverage the grippers design and unique strengths. Through experiments conducted in lab and factory settings for four different WEEE devices, we demonstrate how object uncertainty may be overcome by tactile sensing and compliant techniques, significantly increasing grasping success rates.
TRG-planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Unstructured environments such as mountains, caves, construction sites, or disaster areas are challenging for autonomous navigation because of terrain irregularities. In particular, it is crucial to plan a path to avoid risky terrain and reach the goal quickly and safely. In this paper, we propose a method for safe and distance-efficient path planning, leveraging Traversal Risk Graph (TRG), a novel graph representation that takes into account geometric traversability of the terrain. TRG nodes represent stability and reachability of the terrain, while edges represent relative traversal risk-weighted path candidates. Additionally, TRG is constructed in a wavefront propagation manner and managed hierarchically, enabling real-time planning even in large-scale environments. Lastly, we formulate a graph optimization problem on TRG that leads the robot to navigate by prioritizing both safe and short paths. Our approach demonstrated superior safety, distance efficiency, and fast processing time compared to the conventional methods. It was also validated in several real-world experiments using a quadrupedal robot. Notably, TRG-planner contributed as the global path planner of an autonomous navigation framework for the DreamSTEP team, which won the Quadruped Robot Challenge at ICRA 2023. The project page is available at https://trg-planner.github.io .
ASKCOS: an open source software suite for synthesis planning
Venue: arXiv cs.AI 2025
Year: 2025

The advancement of machine learning and the availability of large-scale reaction datasets have accelerated the development of data-driven models for computer-aided synthesis planning (CASP) in the past decade. Here, we detail the newest version of ASKCOS, an open source software suite for synthesis planning that makes available several research advances in a freely available, practical tool. Four one-step retrosynthesis models form the basis of both interactive planning and automatic planning modes. Retrosynthetic planning is complemented by other modules for feasibility assessment and pathway evaluation, including reaction condition recommendation, reaction outcome prediction, and auxiliary capabilities such as solubility prediction and quantum mechanical descriptor prediction. ASKCOS has assisted hundreds of medicinal, synthetic, and process chemists in their day-to-day tasks, complementing expert decision making. It is our belief that CASP tools like ASKCOS are an important part of modern chemistry research, and that they offer ever-increasing utility and accessibility.